System and method for turning irrigation pivots into a soil and plant radar

ABSTRACT

A method of automatically managing a center pivot irrigation machine comprising steps of: (a) providing at least one center pivot irrigation machine and positioning said center pivot irrigation machine such that said center pivot irrigation machine is movable within an irrigated plot around a center thereof; (b) providing a ground penetration radar; (c) mounting said ground penetration radar on said center pivot irrigation machine; (d) moving said center pivot irrigation machine about said center of said irrigated plot; (e) scanning said irrigated by said ground penetration radar at frequencies ranging between 200-1200 MHz; (f) calculating a distribution of soil moisture over a depth from a soil surface; and (g) creating an irrigation plan according to said distribution.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a divisional application of U.S. patent applicationSer. No. 17/056,565 filed on Nov. 18, 2020 being a national phaseapplication of PCT/IL2019/050573 of May 21, 2019 claiming priority fromU.S. provisional patent application 62/674,043 May 21, 2018.

FIELD OF THE INVENTION

The present invention relates to irrigation devices and, moreparticularly, to automated irrigating and fertilizing system configuredfor sensing and analyzing climatic parameters and establishing aschedule of irrigation and fertilization.

BACKGROUND OF THE INVENTION

Center pivot irrigation is a form of overhead sprinkler irrigationconsisting of several segments of pipe with sprinklers positioned alongtheir length, joined together and supported by trusses, and mounted onwheeled towers. The machine moves in a circular pattern and is fed withwater from the pivot point at the center of the circle. The outside setof wheels sets the master pace for the rotation.

Smart irrigation/fertilization systems tailor watering/fertilizationschedules and run automatically to meet specific plant needs. Thisapproach significantly improves outdoor efficiency of water andfertilizers use.

At different stages of growth, plants consume different amounts of waterand fertilizers. In addition, the specific amounts to be provided to theplants depend on real climatic conditions (temperature, relativehumidity and wind speed). Hence, there is a long-felt and unmet need fordevelopment of a method of automatically managing a plurality of centerpivot irrigation machines such the amounts of water and fertilizers areapplied to the cultivated plants according to specific climaticconditions sensed in real time.

SUMMARY OF THE INVENTION

It is hence one object of the invention to disclose a method ofautomatically managing a center pivot irrigation machine. The aforesaidmethod comprises steps of; (a) providing at least one center pivotirrigation machine and positioning said center pivot irrigation machinesuch that said center pivot irrigation machine is movable within anirrigated plot around a center thereof; (b) providing a proximity soilsensor such as a ground penetration radar; (c) mounting said proximitysoil sensor on said center pivot irrigation machine; (d) moving saidcenter pivot irrigation machine about said center of said irrigatedplot; (e) scanning said irrigated by said ground penetration radar atfrequencies ranging between 20-2000 MHz and 20-1000 kHz; (f) calculatinga distribution of soil moisture over a depth from a soil surface; and(g) creating an irrigation plan according to said distribution.

A further object of the invention is to provide the method comprisingsteps of scanning a no-object area and subtracting obtained no-objectdata from data corresponding to irrigated area.

A further object of the invention is to provide the method comprising astep of short, open load calibration.

A further object of the invention is to provide the step of subtractingobtained no-object data from data corresponding to irrigated areacomprising converting both scans into the time domain signals.

A further object of the invention is to provide the step of calculatinga distribution of soil moisture over a depth from a soil surfacecomprising cross-correlating a subtraction result with the ideal timedomain transmitted signal in order to locate the most prominentreflection.

A further object of the invention is to provide the method comprising astep of applying bandpass filters to a time window surrounding a mostprominent reflection in order to calculate a response in at least twofrequency bands corresponding to at least two penetration depths.

A further object of the invention is to provide the method comprising astep of capturing an optical image of at least a part of said irrigatedplot and recognizing a position of a field of view of said groundpenetration radar.

A further object of the invention is to provide the method comprisingsteps of collecting soil properties data and monitoring said propertiesand reporting results to a user.

A further object of the invention is to provide the method comprisingsteps of collecting soil properties data and monitoring said propertiesand reporting results to a user.

A further object of the invention is to provide the method comprising astep of positioning said proximity soil sensor in at least one ofhorizontal and vertical directions by at least one of horizontal andvertical arms configured for holding said proximal ground sensor.

A further object of the invention is to provide the method comprising astep of placing at least one RF reflecting member within said soil at apredetermined depth from a soil surface.

A further object of the invention is to provide the method comprising astep of scanning and calculating crop dryness by means of a sensorselected from the group consisting of a wide beam ground penetrationradar, a narrow beam ground penetration radar, an optical camera and anycombination thereof.

A further object of the invention is to provide the method comprising astep of planting at least one biomarker plant configured for signalingin response to a predetermined event and monitoring said at least onebiomarker plant.

A further object of the invention is to provide the method comprising astep of scanning and analyzing soil variability within the field byacquiring actual drying curves and field capacity (FC) by staying staticat one location for a predetermined time period.

A further object of the invention is to provide the step of scanning andanalyzing soil variability further comprises a dry run scanning FCs in aplurality of locations.

A further object of the invention is to provide a center pivotirrigation machine comprising: a proximity soil sensor configured forobtaining volumetric water content data pertaining to croplands treatedby said plurality of center irrigation machines configured for obtainingvolumetric water content data pertaining to croplands treated by saidplurality of center irrigation machines. The aforesaid center pivotirrigation machines is configured for (a) moving said center pivotirrigation machine about said center of said irrigated plot; (b)scanning said irrigated plot by said proximity soil sensor at (c)calculating a distribution of soil moisture over a depth from a soilsurface; and (d) creating an irrigation plan according to saiddistribution.

A further object of the invention is to a provide method of precisecalculating field capacity and salinity; said method comprising: (a)Obtaining data of electromagnetic scanning of a soil; (b) Calculating asoil type and bulk density value; (c) Calculating volumetric watercontent; (d) Comparing an obtained value of said volumetric watercontent with compared with threshold; (e) Periodically carrying out areciprocative scan in locations corresponding to said value ofvolumetric water content being greater than threshold T; (f) collectingvolumetric water content data in said locations with volumetric watercontent >T; (g) plotting a drying curve for a time period rangingbetween 3 and 4 days; (h) updating said soil type and bulk densityvalue; (i) calculating field capacity and salinity values.

A further object of the invention is to provide the step of carrying outa reciprocative scan recurring in 2-hour time period.

A further object of the invention is to provide the method comprising astep of evaluating a crop moisture value by subtracting values of saidsoil water content measured directly from values of said soil watercontent measured through crop plants.

A further object of the invention is to provide the method comprising astep of measuring a crop moisture value in a GPR beam oriented inparallel to the ground.

A further object of the invention is to provide a method of measuringsoil content data, said method being adapted for implementation in afield environment comprising a plurality of plants arranged in aplantation pattern comprising a plurality of row-like elements, whereinsaid plurality of row-like elements being spaced apart from one anotherby at least a predetermined distance, whereby for each of which row-likeelements at least one adjacent unplanted space is defined; said methodcomprising the steps of: (a) obtaining a first measurement dataset usinga first data sensing device configured for obtaining a first type ofmeasurement dataset comprised in a first field-of-view (FOV), whereinsaid first data sensing device being accommodated by a first supportmember in a position at a first height relative to a ground level ofsaid field environment, said first height being determined based on afirst threshold; (b) determining, based on data analysis of the firstmeasurement dataset: (i) a location of at least a first row-like elementof the plurality of row-like elements; and, (ii) a location of a firstadjacent unplanted space corresponding to said first row-like element;and, (c) obtaining a second measurement dataset using a second datasensing device configured for obtaining a second type of measurementdataset comprised in a second FOV, said second data sensing device beingaccommodated by a second support member in a position at a second heightrelative to the ground level, said second height being determined basedon a second threshold; wherein said obtaining the second measurementdataset is performed while said second data sensing device beingspatially translated along a trajectory longitudinally traversing saidfirst adjacent unplanted space, which spatial translation being effectedresponsive to a control command outputted based on the location of thefirst adjacent unplanted space determined.

A further object of the invention is to provide the plantation patternselected from the group consisting of: a linear pattern, wherein saidplurality of row-like elements are shaped in a form of straight linesparallel to one another; and, a circular-like pattern, wherein saidplurality of row-like elements are shaped in a form of concentriccircles of successively increasing radii.

A further object of the invention is to provide the said first andsecond data sensing devices selected from the group consisting of: aGround-Penetrating Radar (GPR) antenna; a Micropower Impulse Radar (MIR)antenna; a Light Direction And Ranging (LIDAR) sensor; and anycombination thereof.

A further object of the invention is to provide the field environmentfurther comprising a center pivot irrigation system deployed therein,wherein said first support member being comprised in a pivot arm of saidcenter pivot irrigation system.

A further object of the invention is to provide the field environmentfurther comprising a center pivot irrigation system deployed therein,wherein said second support member comprises an articulated armextending from a pivot arm of said center pivot irrigation system.

A further object of the invention is to provide the first FOV beingobtained by means of directing said first data sensing device at anangle towards a ground level of said field environment relative to aperpendicular from a position thereof to the ground level, which anglebeing selected from a range between about 45 degrees and about 75degrees.

A further object of the invention is to provide the second FOV beingobtained by means of directing said second data sensing device at anangle towards a ground level of said field environment relative to aperpendicular from a position thereof to the ground level, which anglebeing selected from a range between about 0 degrees and about 20degrees.

A further object of the invention is to provide the first thresholddefined as a function of a maximal height of the plurality of plants,and wherein said second threshold is defined as a function of at leastone of: a minimum height of a canopy of the plurality of plants; and, arange of one or more water sprinklers deployed in said fieldenvironment.

A further object of the invention is to provide the method comprisingdetermining a structure of said plantation pattern, wherein responsiveto a determination that said plantation pattern is linear, performingthe further steps of: (a) obtaining a first sine wave pattern associatedwith the first measurement dataset; (b) obtaining a second sine wavepattern associated with the second measurement dataset; (c) determining,based on the first sine wave pattern, a temporary frequencycorresponding to a temporary angle between one or more row-like elementsof the plurality of row-like elements and said first support memberaccommodating said first sensing device; and, (d) isolating within thesecond measurement dataset, based on the temporary frequency determinedand the second sine wave pattern, one or more measurements exhibiting afrequency matching to the temporary frequency, to obtain therefromminima values representative of measured soil content data.

A further object of the invention is to provide a system useful formeasuring soil content data, said system being adapted for deployment ina field environment comprising a plurality of plants arranged in aplantation pattern comprising a plurality of row-like elements, whereinsaid plurality of row-like elements being spaced apart from one anotherby at least a predetermined distance, whereby for each of which row-likeelements at least one adjacent unplanted space is defined; said systemcomprising: (a) a first data sensing device configured for obtaining afirst type of measurement dataset comprised in a first field-of-view(FOV); (b) a second data sensing device configured for obtaining asecond type of measurement dataset comprised in a second FOV; (c) afirst support member configured for accommodating said first datasensing device in a position at a first height relative to a groundlevel of said field environment, said first height being determinedbased on a first threshold; (d) a second support member configured foraccommodating said second data sensing device in a position at a secondheight relative to the ground level, said second height being determinedbased on a second threshold; (e) at least one spatial translationmechanism configured for spatially translating said first and secondsupport members in response to control commands, thereby effectingspatial translation of said first and second data sensing devices; (f)an analyzing unit configured for determining, based on data analysis ofa first measurement dataset obtained by said first data sensing device:(i) a location of at least a first row-like element of the plurality ofrow-like elements; and, (ii) a location of a first adjacent unplantedspace corresponding to said first row-like element; (g) a control unitconfigured for outputting, based on the location of the first adjacentunplanted space determined by said analyzing unit, a control command tosaid spatial translation mechanism in order to spatially translate saidsecond data sensing device along a trajectory longitudinally traversingsaid first adjacent unplanted space; and, (h) a data collection unitconfigured for collecting a second measurement dataset obtained by saidsecond data sensing device while traversing said trajectory.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to understand the invention and to see how it may beimplemented in practice, a plurality of embodiments is adapted to now bedescribed, by way of non-limiting example only, with reference to theaccompanying drawings, in which

FIG. 1a is a is a conceptual illustration of turning center-pivotirrigation systems into a social network of autonomous ai farming robotsin 3 steps;

FIG. 1b is a conceptual illustration of turning a standard center-pivotirrigation system into an On-Site Radar with continuous near surfaceremote sensing of Soil & Crop;

FIG. 1c is a general view of a near surface remote sensors such asground penetration radar, machine vison and weather sensors mounted on acenter pivot irrigation machine;

FIG. 1d is a general view of a portable EM scanning device known in theart FIG. 1e is a general view of a pivoted EM scanning device;

FIG. 1f is a flowchart of a method of establishing an irrigation plan;

FIG. 2a is a general view of a ground penetration radar mounted on acenter pivot irrigation machine;

FIG. 2b is a general view of a directional ground penetration radarmounted on a center pivot irrigation machine;

FIG. 3a is a flowchart of a real time method for calculating soilproperties;

FIG. 3b is a flowchart for calculating estimated water stress;

FIG. 3c is a graph of a 7 days graph demonstrating a per day (3380) soilwater content as measured by the GPR;

FIG. 4a schematically illustrates reference areas for planting cropusable as Bio markers;

FIG. 4b schematically illustrates reflection members inserted intospecific depth in the soil;

FIG. 5 is a schematic diagram of a system for automatically managing aplurality of center pivot irrigation machines;

FIG. 6 is a workflow diagram for turning data into autonomousIrrigation, Fertigation, and Crop protection plans;

FIG. 7 is a schematic illustration of autonomous symptoms dictation toautonomous spraying;

FIG. 8a is a UI illustration of displaying water stress condition perslice;

FIG. 8b is a UI illustration of displaying nitrogen stress condition;

FIG. 9 is a schematic illustration of autonomous Social Crop protectionby recognizing disease condition and alerting its neighbors;

FIG. 10 is a workflow diagram of collecting annual data and applyingadaptive learning based on correlation between yield maps and stressmaps;

FIG. 11a is a photograph of a field with fully grown corn plants,demonstrating drawbacks and disadvantages of the prior art; and

FIG. 11b is a schematic illustration of a field environment in which thedisclosed subject matter may be utilized, in accordance with someexemplary embodiments of the disclosed subject matter;

DETAILED DESCRIPTION OF THE INVENTION

The following description is provided, so as to enable any personskilled in the art to make use of said invention and sets forth the bestmodes contemplated by the inventor of carrying out this invention.Various modifications, however, are adapted to remain apparent to thoseskilled in the art, since the generic principles of the presentinvention have been defined specifically to provide a method ofautomatically managing a plurality of center pivot irrigation machinesand a system for doing the same.

Reference is now made to FIG. 1a presenting a conceptual illustration ofturning center-pivot irrigation systems into a social network ofautonomous AI farming robots comprising main three steps of turningcenter pivot machines into radars (step 1), turning soil and crop datato artificial intellect farming (step 2) and organizing the radars intoa social net.

Reference is now made to FIG. 1b illustrating center pivot irrigationmachine 10 on irrigated radar's plot 11.

Reference is now made to FIG. 1c presenting a detailed schematic diagramof center pivot irrigation machine 23 provided with weather sensor 22,machine vision sensor (camera) 21 and ground penetration radar 20.

In FIG. 1d , a general view of portable EM scanning device 30 known inthe art is shown while FIG. 1e illustrates a pivoted EM scanning deviceof the present invention.

Reference is now made to FIG. 1f , showing a flowchart of a method 100of establishing an irrigation plan which is obtained on the basis of anevapotranspiration forecast, a leave area index, a growth stage and afield capacity and bulk density.

Specifically:

1. Meteorological channel: a local weather details (temperature,relative humidity and wind speed) is obtained at step 110. In parallel,a Web-based weather forecast is provided (step 120). In correlationbetween the local weather details and Web-based weather forecast, a3-day evapotranspiration forecast is calculated.

2. Optical channel: local images pertaining to croplands treated by aplurality of center irrigation machines are captured at step 130. Thecaptured images are processed such that a leave area index is calculated(step 125) and a growth stage is determined (step 135). In correlationbetween 3-day evapotranspiration forecast obtained in the meteorologicalchannel and leave area index/growth stage from the optical channel, a3-day evapotranspiration forecast updated in view of a real growth stageof a plant within the specific cropland (step 150).

3. Electromagnetic channel: the croplands are scanned by a groundpenetration radar at step 140. As a result, volumetric water content isobtained. On the basis of the volumetric water content, values of fieldcapacity and soil bulk density are calculated (step 145). In addition, avalue of soil water storage is calculated (step 160).

The previously obtained 3-day evapotranspiration forecast updated inview of a real growth stage and soil water storage constitutes inputdata for establishing an irrigation plan (step 165). In addition, astress map integrating all negative factors affecting the cultivatedplant is obtained at step 170. An irrigation plan optimized in view ofthe obtained stress map is established at step 175.

Reference is now made to FIG. 2a presenting a general view of a groundpenetration radar mounted on a center pivot irrigation machine. As knownin the art, center pivot irrigation machine 200 moves around a pivotpoint (not shown). Ground penetration radar 220 is mounted betweenwheels 210 such that the ground is scanned within a rut (not shown) madeby wheels 210. The rut is free of the cultivated plants. Thus, theobtained ground scan data are not distorted by the plants cultivated onthe specific cropland.

Reference is now made to FIG. 2b is a general view of a directionalground penetration radar mounted on a center pivot irrigation machine210 pivotally movable on wheels 230.

Numeral 240 refers to a directional multi-band GPR. A position of GPR240 is adjustable in a vertical direction by vertical arm 250 configuredfor varying a height of GPR 240 over the ground; and a horizontaldirection by horizontal arm 250 configured for varying a measuringdistance before the sprinklers. Camera 260 is configured for real timevisual control of GPR position relative to crop plants.

GPR 230 comprises (a) an antenna (not shown) configured for radiatingand receiving radiation of the desired wave length (in this case 20-2000MHz and 20-1000 kHz), (b) a transmitting/receiving device configured fortransmitting electrical signals of the desired wavelength and receivinga response from the ground, and (c) a computing device to managetransmit/receive and store measured data. Operation of the GPR may bedone in the following sequence:

-   -   SOL (short, open load) instrument calibration,    -   a full frequency span scan with no objects in the field of view        of the GPR in order to obtain a system noise level, and    -   a full frequency span scan of the desired object.    -   According to one embodiment of the present invention, data        processing of measured GPR data is performed by the following        way:    -   converting both scans into the time domain signals,    -   subtracting the no object scan data from object scan data to        eliminate any system noise,    -   cross-correlating the result with the ideal time domain        transmitted signal in order to locate the most prominent        reflection.    -   applying bandpass filters to a time window surrounding the most        prominent reflection in order to calculate a response in        different frequency bands.

The response of the different frequency bands is then used to determinesoil water content profile.

According to one embodiment of the present invention, the center pivotirrigation machine is equipped with GPR capable to emit at least onenarrow beam and one wide beam. The computing device is configured foracquiring soil water content through tall crop based on the different insignals received when using the narrow beam and when using the widebeam.

Controlling the beam width can be done by contacting and disconnectingantenna components within the multi-bend antenna array (for example anarray of 4 component 1430+1432+1433+1435 in FIG. 14a emits a narrow beanwhile 2 components 1433+1435 of FIG. 14a emits wide beam).

Pivot equipped with GPR and Camera (260) will enable analyzing methodsfor acquiring the soil water content through a tall crop based on imageprocessing for classifying the segments scanned by the GPR Installingthe GPR on adjustable vertical arm (240) for determining the aboveground height, and: adjustable horizontal arm for determining themeasuring distance before the sprinklers; (250), enable the acquiringthe soil water content while irrigating.

Pivot equipped with GPR and dry-run scanning methods:

-   -   For acquiring the soil water content    -   For acquiring actual drying curves per segment    -   For acquiring actual FC per segment    -   For acquiring actual drying curves and/or FC and water content        by staying static at one location for a required time period

Pivot equipped with GPR for scanning and analyzing crop drynessutilizing the wide/narrow beam methods and or the GPR and camera methodsdescribe previously as a method for measuring the soil water contentthrough tall crop can also be used as a tool for evaluating crop drynessor crop level of moisture simply by subtracting the values of soil watercontent from values the received when measuring through the crop.

Reference is now made to FIG. 3 a showing a flowchart of method 300 ofprecise calculation of field capacity and salinity. Data obtained bymeans of electromagnetic scanning (step 310) are used for calculation ofsoil type and bulk density (step 320) and then volumetric water contentis calculated (step 330). At step 340, the obtained value of volumetricwater content is compared with threshold T (step 340). If the value ofvolumetric water content is greater than threshold T, a more detailedscan is carried out.

Specifically, the scan is limited to a 2 hour slice (step 350). Thelocations characterized by volumetric water content >T arereciprocatively scanned at step 360. On the basis of obtained data ofdetailed scan, a 34-day drying curve is plotted (step 370). Then, theupdated soil type and value of bulk density are calculated (step 380).Finally, field capacity and salinity are obtained (step 390).

Reference is now made to FIG. 3b is a flowchart for calculating anestimated water stress to be developed between 2 visits of the pivot ina specific slice. At step 1500, getting a per-slice irrigation plan isperformed. After that, getting a per-slice water redraw (step 1510) iscarried out. At step 1530, crop available water at“next visit” withineach slice is calculated. The calculated crop available water data aredisplayed at step 1540.

Reference is now made to FIG. 3c is a 7 days graph demonstrating a perday (3380) soil water content as measured by the GPR A pivot equippedwith GPR for scanning and analyzing soil variability within the field byacquiring actual drying curves and field capacity (FC) by staying staticat one location for a required time period (the GPR is acting as staticsoil sensor). The described method takes advantage at off-season time,before emerging, at early growth stage and stand-by for rain event thatbring the field above field capacity than wait until the values of soilwater content are statics (typically 3 days depend on soil type) (3385)the value at this static condition consider FC (3390) and then dry runthe pivot for scanning the values of FCs in different location in thefield it is expected to receive similar values if the soil ishomogeneous and variable values if the soil is not homogeneous.

According to one embodiment of the present invention, moisture value ofcrop plants 1460 is measured in GPR beam 1480 created by antenna 1450oriented in parallel to the ground (see FIG. 14b ).

Reference is now made to FIG. 4a schematically illustrate referenceareas for determining a planting crop to be use as Bio markers FIG. 4ashows circular cropland 800 typical for canter pivot irrigation systemsof corn including a concentrically arranged ring formed by biomarkerplants 820 having more sensitive faster respond to specifics stressconditions with known spectral characteristics. The biomarker plants canbe used as reference objects for early alert of strass long before itstarts showing on the commercial crop.

Reference is now made to FIG. 4b schematically illustrate of reflectionsurface members 840 inserted into specific subsurface depth in the soil.As reference areas for reflectors can be used as reference objects forGPR calibration.

Reference is now made to FIG. 5, showing a schematic diagram of a systemfor automatically managing a plurality of center pivot irrigationmachines. The system includes four parts which are the following: (1) acloud-based server; (2) a plurality of end devices configured forcontrolling center pivot irrigation machines; (3) a plurality ofexternal soil and plant sensors disposed on croplands; and (4) a user'sdevice enabling the user to communicate to the server and end devices.

The cloud-based server includes an analytical unit and a control unit.The analytical unit is configured for analyzing data on the basis of bigdata and deep learning technology.

Real time meteorological data and forecasts are taken into account inthe analysis. The analysis is carried out on the basis of regulations ofthe US agriculture department. In exemplary manner, the analytical unitis configured for recognizing image patterns indicating specific plantdiseases.

The control unit is configured for establishing an irrigation scheduleand crop protection program on the basis of obtained analysis. Thecontrol unit transmitted commands to the end devices. The commands aredirected to control the end devices actuating fertigation valves of thecenter pivot irrigation machines.

A plurality of end devices is attached to the center pivot irrigationmachines. Each end device further comprises: a ground penetration radar,an image sensor, a weather sensor, a GPS sensor, a collecting unit, atransponder and an actuator.

The ground penetration radar obtains volumetric water content datapertaining to croplands treated by said plurality of center pivotirrigation machines. The image sensor captures images of the croplandsunder the center pivot irrigation machines. The weather sensor measuresreal-time parameters of surrounding weather such that temperature,relative humidity and wind speed. The collecting unit interrogates datafrom said ground penetration radar, image sensor, weather sensor and GPSsensor. The transponder transmits collected data to the cloud-basedserver and receives control commands from it.

The actuator controls said center pivot irrigation machine on the basisof said control commands.

External sensors are disposed on the ground cultivated plants andprovide data to the cloud-based server.

The user devices display crop conditions in graphic and digital formsand transmit user commands to said cloud-based server.

Reference is now made to FIG. 6 is a workflow diagram for turning datainto autonomous Irrigation, Fertigation, and Crop protection plans.

Reference is now made to FIG. 7 is a schematically illustration ofautonomous symptoms dictation to autonomous spraying.

Reference is now made to FIG. 8a is a UI illustration for displayingwater stress condition per slice.

Reference is now made to FIG. 8b is a UI illustration for displayingnitrogen stress condition.

Reference is now made to FIG. 9 is a schematically illustration ofautonomous Social Crop protection. The pivot discovers disease conditionand alerts its neighbors.

Reference is now made to FIG. 10 is a workflow diagram for turning datainto year to year Adaptive learning based on correlation of one-yearyield maps 1200 to one-year history multilayer stress map 1100 providingmulti-year data of adaptive learning conclusions 1120.

Reference is now made to FIG. 11 a, showing a photograph of a field withfully grown corn plants, the corn being about 2.5 meters high. FIG. 11ademonstrates disadvantages and drawbacks of the existing approach tomeasuring soil content data using a Ground-Penetrating Radar (GPR), suchas disclosed by Tan et al., wherein a GPR antenna is mounted on a pivotarm of a center pivot irrigation machine, at a position corresponding toa location of a camera as used for capturing the photograph shown inFIG. 11a . The antenna is aimed at the ground at a wide angle, e.g. atabout 60 degrees or the like.

As exemplified in FIG. 11a , a first apparent drawback of the prior artapproach is that there is no direct, clear Line-of-Sight (LOS) to theground. Rather, a pulse wave transmitted by an antenna mounted on thepivot arm may hit a varying number of corn plants on its way to theground level surface, thus giving rise to measurement inconsistenciesthat are unrelated to the soil content. A second apparent drawback isthat in case a traditional planting pattern consisting of straight linesplant rows is used, the pivot arm may cross those lines while traveling.This may similarly result in measurement variation that is unrelated tothe soil content, as locations of crop rows in the antenna footprint areconstantly changing.

One technical problem dealt with by the disclosed subject matter is toperform near surface, remote measuring of soil content in a fieldenvironment under general conditions, including but not limited toscenarios wherein the crops are masking the soil, being tall and dense,thereby rendering conventional approaches and pre-existing methodsineffective for said purpose.

Another technical problem dealt with by the disclosed subject matter isto avoid or mitigate measurement variation unrelated to soil content, asmay be suffered when performing measurements using data sensing deviceslocated above plant canopy, and/or due to perpetual changes in locationsof crop rows in a footprint of such sensor as it travels along andacross a field environment, particularly wherein a traditional plantingpattern in straight lines being employed. On the other hand, in caseadditional installations are employed, such as a boom arm accommodatingan antenna at a height below plant canopy, the boom may constantly crosscrop rows and both the antenna and the crop may be damaged by result.

Yet another technical problem dealt with by the disclosed subject matteris to measure content data of planted crops in a field environment, suchas, for example, water content or the like. Determining content of keycomponents of plants, and water content in particular, up to aresolution of even a singular plant, may be instrumental in variousapplications, ranging from treatment plan establishment through anomalydetection (useful for example to early discovery of plant diseasesbefore overall spread thereof to entire plots) to further, moreelaborate patterns recognition and predictions provision accordinglybased on historical and current information analysis, using techniquessuch as data mining, machine learning, artificial intelligence, big datamanipulation, and the like.

One technical solution is to provide at least two data sensing devices,such as radar antennas or the like, deployed in an array arrangement andconfigured each for implementing a different functionality. A first datasensing device in the array arrangement may be configured for measuringdata based on which a location of at least a pair of neighboring plantrows may be detected. A second data sensing device in the arrayarrangement may be configured for measuring soil content data, such assoil water content or the like. Spatial positioning and translation ofthe second data sensing device within the field environment, andrelative to one or more locations of plant rows, such that measurementsobtained by the second data sensing device may not suffer interferencefrom plants or plant portions, may be guided by locations of neighboringplant row pairs, as determined based on the data measured by the firstdata sensing device. Put differently, the first data sensing deviceprovides a functionality of detecting an unplanted space adjacent to agiven row of plants, and the second data sensing device provides afunctionality of measuring soil content data in an effective manner,being achieved, inter alia, by means of positioning the second datasensing device in said unplanted space, such that a direct Line-of-Sight(LOS) to the ground is thereby provided.

In some exemplary embodiments, the first data sensing device may bepositioned relative to crop rows so as to acquire data at a wideField-of-View (FOV). For the sake of clarity, and without loss ofgenerality, in the context of the present disclosure, the terms“Field-of-View (FOV)”, “angle of view”, or simply “angle”, may be usedinterchangeably and refer to an angle between a perpendicular from aposition of a data sensing device to the ground, on one hand, and adirection at which a focal center of said data sensing device is aimedat towards the ground, on the other hand. Accordingly, a wide FOV mayrefer to an angle in a range of about 45 degrees to about 75 degrees, orthe like, whereas a narrow FOV may refer to an angle in a range of about0 degrees to about 20 degrees, or the like.

In some exemplary embodiments, the second data sensing device may bepositioned relative to crop rows so as to acquire data in a narrow FOV.Additionally or alternatively, the second data sensing device may bepositioned relative to crop rows so as that a locus of measurementsperformed thereby is comprised in an unplanted space between a pair ofneighboring rows. Additionally or alternatively, the second data sensingdevice may be positioned relative to crop rows such that a directLine-of-Sight (LOS) to the ground is provided, e.g., the second datasensing device may be located below a canopy layer of the crop rows. Asan illustrative example, in case of soy or corn plants, which, whenfully grown, may rise up to a height above the ground of about 2.5meters or the like, such as those crops portrayed in FIG. 11a , thesecond data sensing device may be positioned at a height above theground of about 1 meter or the like.

In some exemplary embodiments, the first, second, or both data sensingdevices may be devices emitting electromagnetic radiation, such as radarantennas, Light Direction-and-Ranging (Lidar) sensors, or the like. Inthe context of the present disclosure, the term “beam” may be used in asimilar sense as the terms FOV, angle and the like, and refer to anextent of a target area being exposed to transmitted signals of saiddata sensing devices. For example, a wide beam may be consideredsynonymous with a wide FOV, a narrow beam may be considered synonymouswith a narrow FOV or narrow angle, and so forth.

In some exemplary embodiments, the first data sensing device may beaccommodated by a first support member, so as to maintain the first datasensing device at a desired position and/or orientation, therebyobtaining a desired predetermined FOV. Similarly, the second datasensing device may be accommodated by a second support member, so as tomaintain the second data sensing device at a position and/or orientationfor obtaining a desired predetermined FOV, optionally different than theFOV associated with the first data sensing device. In some exemplaryembodiments, the first and second support members may be integratedtogether in a single physical structure. Alternatively, the first andsecond support members may be two separate, independent units.

In some exemplary embodiments, the second support member accommodatingthe second data sensing device may be coupled to a spatial translationmechanism, configured for mobilizing the second support member withinthe field environment. In some further exemplary embodiments, thespatial translation mechanism may be configured to translate the seconddata sensing device such that measurements obtained thereby trace atrajectory along and within an unplanted space adjacent to a given rowof plants, which a location thereof being determined based on datameasured by said first data sensing device, as disclosed herein.

In some exemplary embodiments, a center pivot irrigation system may bedeployed in a field environment, such as the field environment capturedin FIG. 11 a. A pivot arm of the center pivot irrigator may be utilizedin role of said first support member. An additional arm, also referredto as “boom”, may be coupled to the pivot arm and utilized in role saidsecond support member. The additional arm may optionally be anarticulated arm comprising at least two segments, a first of which beinglocated proximally to the pivot arm and extending horizontally in anorientation substantially parallel to the ground, and second of whichbeing located distally to the pivot arm and in a vertical directiontowards the ground and substantially orthogonal thereto.

In some exemplary embodiment, an additional, third data sensing devicefor imaging or location data gathering may be provided so as to allowpinpointing of a location in the field environment wherein a datameasurement or sample originated from. An imaging sensor for use in roleof said third data sensing device may be, for example, a digital camerasuch as a Charge Coupled Device (CCD), Complementary Metal OxideSemiconductor (CMOS) or likewise sensor camera, a Time-of-Flight (ToF)camera, an acoustic imaging sensor, such as ultrasonic device, or thelike. A location sensor for use in role of said third data sensingdevice may be, for example, a Global Positioning System (GPS) sensor, aNear-field Communication (NFC) sensor, a Radio-frequency identification(RFID) sensor, or the like.

Another technical solution is to employ a circular planting pattern,wherein plants are being planted in rows formed in a circle shape. Theplurality of circles of plant rows thus formed may be concentric andwith successively increasing radii. The circles may be spaced apart fromone another by a constant distance, similarly to the spacing betweencrop rows in traditional linear planting pattern. In some exemplaryembodiments, a center pivot irrigation system may be employed, whereinthe pivot span may be utilized to define the radius of the outermostcircle of the plurality of plant row circles, or an upper bound thereon.

Yet another technical solution is to perform a synthesis of content datameasured by two or more sensing devices differing from one another infunctionality, wherein a footprint of a first sensing device of the twoor more sensing devices comprises a portion of a crop row and anadjacent portion of an unplanted soil region, wherein a footprint of asecond sensing device of the two or more sensing devices comprises saidadjacent portion of an unplanted soil region, such that by means ofcorrelation and subtraction of substantially collocated, overlapping andoptionally simultaneously obtained content data measurements, respectivecontent data of said crop row portion may be determined.

In some exemplary embodiments, the first data sensing device may be awide FOV sensor and the second data sensing device may be a narrow FOVsensor, wherein the first and second sensing devices being positioned inan array arrangement and directed towards the ground each in respectiveorientations such that each field region portion captured by the firstdata sensing device per sample encompasses a field region portioncaptured by the data second data sensing device per sample, for eachpair of instantaneous samples obtained thereby.

In some exemplary embodiments, the first and second data sensing devicesmay be mounted on a center pivot irrigation system, as disclosed herein.In some further exemplary embodiments, the center pivot irrigationsystem may be deployed in a field environment having a linear-likeplanting pattern of crop rows. The center pivot irrigation system may bedriven in a rotary motion around a center axis thereof, whereby a pivotarm sweeps a disk-like area of the field environment in each completedcirculation about the center point. Data measurements or samplesobtained by the first and second data sensing devices may comprise dataacquired within sectors or arc-like regions of the field environment,wherein respective trajectories traversed by the first and second datasensing devices alternately cross planted crop rows and unplanted groundareas there between or there aside at varying angles relative to a linedirection parallel or tangential to said rows. As result, a speed rateor frequency of alternation between successive groups of measurements orsamples which correspond to neighboring plant rows and one or moreregions of bear soil adjacent thereto or in between thereof,respectively, may vary as a function of a relative orientation or anglebetween the straight lines by which the plurality of planted crops areformed and the pivot arm's pose in its temporary or general whereaboutsduring a time in which said samples being acquired.

In some exemplary embodiments, a first dataset comprised of samplesobtained by the first sensing device having a wide FOV may be analyzedto determine a momentary frequency of alternation betweencrop/soil-originated samples within the first dataset.

The momentary frequency thus determined may then be used to identify ordifferentiate between crop/soil-originated samples in a second datasetobtained by the second sensing device having a narrow FOV, wherein thefirst and second dataset being obtained substantially at a same time andplace, i.e. same sector or arc region in the field environment. Once thesamples in the second dataset are sorted to crop- or soil-originatedmeasurements, a content value of a crop portion, or even a particularplant or group of plants, may be determined by means of subtracting ameasured content value of a soil portion from a measured content valueof said crop portion or plant, as recorded in the second dataset.

One technical effect of utilizing the disclosed subject matter is toprovide a solution for measuring soil content with a GPR device in atall and dense crop field, which previously has not been successfullyaccomplished.

Another technical effect of utilizing the disclosed subject matter is toovercome rough soil surface inaccuracies that a GPR device may encounterwhen located above plant canopy, e.g. when mounted on a pivot arm in acenter pivot irrigation system, as proposed by previous approaches.

Yet another technical effect of utilizing the disclosed subject matteris to provide an improved controlled sensing environment, by means of aninstallation that is relatively close to the ground and using a narrowbeam, thereby enabling isolation of readings that may be affected bycrop, and allowing obtaining of substantially noise-free groundreadings.

Yet another technical effect of utilizing the disclosed subject matteris to obtain a region or sector (e.g., a ring or the like, such as whenused in a field under an irrigation pivot) of dense, volumetric soilcontent measurements, such as, for example, Volumetric Water Content(VWC) or any likewise physical quantity, as opposed to few specificmeasurements, such as the ones that may be obtained when using anin-ground soil sensor.

The disclosed subject matter may provide for one or more technicalimprovements over any pre-existing technique and any technique that haspreviously become routine or conventional in the art. Additionaltechnical problems, solutions and effects may be apparent to a person ofordinary skill in the art in view of the present disclosure.

Reference is now made to FIG. 11b , showing a schematic illustration ofa field environment in which the disclosed subject matter may beutilized, in accordance with some exemplary embodiments of the disclosedsubject matter.

FIG. 11b schematically illustrates a field environment comprising aplurality of plants, such as Plant 101, Plant 103, and Plant 105, theplurality of plants being planted in a circular-like plantation pattern.The circular-like plantation pattern comprises a plurality of row-likeelements, such as Row 112 and Row 113. Each row-like element comprises aplurality of plants, being planted side by side at substantiallyequidistant spaces between one another. Each row-like element is formedat a circle-like geometric shape, which circle-like shapes correspondingto the plurality of row-like elements are substantially concentric, withsuccessively increasing radii, such as Circle 1, Circle 2 correspondingto Row 112, Circle 3 corresponding to Row 113, and Circle 4. Theplurality of plants in each row-like element may be planted such thateach plant's center, i.e. a projection of its central axis on the groundlevel, is located substantially on the corresponding circle-like shape,as exemplified in FIG. 11b . The plurality of row-like elements may bespaced apart from one another by a predetermined distance, e.g. of about80 centimeters, as illustrated in FIG. 11 b.

In some exemplary embodiments, and as illustrated in FIG. 11b , theplurality of plants may have substantially uniform dimensions, e.g. atotal width or horizontal diameter of about 40 centimeters, comprised ofplant leaves or likewise canopy parts extending from a stem or centralcore, at a length of about up to 20 centimeters in each direction, suchthat a portion of the soil between two neighboring plant rows that isexposed of any crops or crop parts, has a predetermined width, e.g. ofabout 40 centimeters, and a total diameter of a pair of neighboringplant rows has a predetermined length, e.g. of about 100 centimeters.

1. A method of automatically managing a center pivot irrigation machine;said method comprising steps of: a. providing at least one center pivotirrigation machine and positioning said center pivot irrigation machinesuch that said center pivot irrigation machine is movable within anirrigated plot around a center thereof; b. providing a proximity soilsensor; c. mounting said proximity soil sensor on said center pivotirrigation machine; d. moving said center pivot irrigation machine aboutsaid center of said irrigated plot; e. scanning said irrigated by saidground penetration radar at frequencies ranging between 200-1200 MHz; 2.The method according to claim 1 comprising at least one of thefollowing: a. a step of calculating distribution of soil moisture over adepth from a soil surface; and b. a step of creating an irrigation planaccording to said distribution.
 3. The method according to claim 1,wherein said proximity soil sensor is aground penetration radar.
 4. Themethod according to claim 3 comprising steps of scanning a no-objectarea and subtracting obtained no-object data from data corresponding toirrigated area.
 5. The method according to claim 3 comprising a step ofshort, open load calibration.
 6. The method according to claim 4,wherein said step of subtracting obtained no object data from datacorresponding to irrigated area comprises converting both scans into thetime domain signals.
 7. The method according to claim 4, wherein saidstep of calculating a distribution of soil moisture over a depth from asoil surface comprises cross-correlating a subtraction result with theideal time domain transmitted signal in order to locate the mostprominent reflection.
 8. The method according to claim 3 comprising astep of applying bandpass filters to a time window surrounding a mostprominent reflection in order to calculate a response in at least twofrequency bands corresponding to at least two penetration depths.
 9. Themethod according to claim 3 comprising a step of capturing an opticalimage of at least a part of said irrigated plot and recognizing aposition of a field of view of said ground penetration radar.
 10. Themethod according to claim 1 comprising steps of collecting soilproperties data and monitoring said properties and reporting results toa user.
 11. The method according to claim 1 comprising a step ofpositioning said proximity soil sensor in at least one of horizontal andvertical directions by at least one of horizontal and vertical armsconfigured for holding said proximal ground sensor.
 12. The methodaccording to claim 1 comprising a step of placing at least one RFreflecting member within said soil at a predetermined depth from a soilsurface.
 13. The method according to claim 1 comprising a step ofscanning and calculating crop dryness by means of a sensor selected fromthe group consisting of a wide beam ground penetration radar, a narrowbeam ground penetration radar, an optical camera and any combinationthereof.
 14. The method according to claim 1 comprising a step ofplanting at least one biomarker plant configured for signaling inresponse to a predetermined event and monitoring said at least onebiomarker plant.
 15. The method according to claim 1 comprising a stepof scanning and analyzing soil variability within the field by acquiringactual drying curves and field capacity (FC) by staying static at onelocation for a predetermined time period.
 16. The method according toclaim 16, wherein said step of scanning and analyzing soil variabilityfurther comprises a dry run scanning FCs in a plurality of locations.17. A method of precise calculating field capacity and salinity; saidmethod comprising: a. Obtaining data of electromagnetic scanning of asoil; b. Calculating a soil type and bulk density value; c. Calculatingvolumetric water content; d. Comparing an obtained value of saidvolumetric water content with compared with threshold; e. Periodicallycarrying out a reciprocative scan in locations corresponding to saidvalue of volumetric water content being greater than threshold T; f.collecting volumetric water content data in said locations withvolumetric water content >T; g. plotting a drying curve for a timeperiod ranging between 3 and 4 days; h. updating said soil type and bulkdensity value; i. calculating field capacity and salinity values. 18.The method according to claim 17, wherein said step of carrying out areciprocative scan recurs in 2-hour time period.
 19. The methodaccording to claim 17 comprising a step of evaluating a crop moisturevalue by subtracting values of said soil water content measured directlyfrom values of said soil water content measured through crop plants. 20.The method according to claim 17 comprising a step of measuring a cropmoisture value in a GPR beam oriented in parallel to the ground.